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CN-121976982-A - Intelligent docking block electrohydraulic control system with mechanical locking function and control method thereof

CN121976982ACN 121976982 ACN121976982 ACN 121976982ACN-121976982-A

Abstract

The application relates to the technical field of ship manufacturing and hydraulic control, in particular to an intelligent docking block electrohydraulic control system with a mechanical locking function and a control method thereof. The system comprises a hydraulic cylinder, an independent mechanical locking assembly, a distributed hydraulic oil source and an integrated control valve bank, wherein the independent mechanical locking assembly is mechanically coupled with a piston rod of the hydraulic cylinder to be locked or unlocked, a P oil port and a T oil port of the distributed hydraulic oil source are respectively communicated with a P oil port and a T oil port of the integrated control valve bank, the integrated control valve bank comprises an A1 oil port and a B1 oil port which are respectively communicated with a rodless cavity and a rod cavity of the hydraulic cylinder, and an A2 oil port and a B2 oil port which are respectively communicated with a driving mechanism of the independent mechanical locking assembly. Therefore, the technical problems that the prior art cannot provide a reliable locking function, the locking function is unreliable, the safety is insufficient and potential safety hazards exist when the system is stopped or is out of pressure are solved.

Inventors

  • ZHANG QIANG
  • FANG JINHUI
  • WEI RAN
  • LAI ZHENYU
  • FANG XIANG
  • FENG RUILIN

Assignees

  • 杭州德泰电液系统工程有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. An intelligent docking block electrohydraulic control system with a mechanical locking function is characterized by comprising a hydraulic cylinder (10), an independent mechanical locking assembly (20), a distributed hydraulic oil source (30) and an integrated control valve group (40); The independent mechanical locking assembly (20) is mechanically coupled with a piston rod (11) of the hydraulic cylinder (10) for locking or unlocking connection; The P oil port and the T oil port of the distributed hydraulic oil source (30) are respectively communicated with the P oil port and the T oil port of the integrated control valve group (40) so as to provide driving power; The integrated control valve group (40) comprises an A1 oil port and a B1 oil port which are respectively communicated with a rodless cavity and a rod cavity of the hydraulic cylinder (10) through hydraulic pipelines, and an A2 oil port and a B2 oil port which are communicated with a driving mechanism of the independent mechanical locking assembly (20) through hydraulic pipelines.
  2. 2. The intelligent docking block electrohydraulic control system with a mechanical locking function as set forth in claim 1, wherein, The independent mechanical locking assembly (20) comprises an external gear locking nut (21) which is mutually matched and mechanically connected with the piston rod (11) of the hydraulic cylinder (10) through a thread pair, a driving gear (22) which is mutually meshed and connected with the external gear locking nut (21) through an external gear pair, and a hydraulic motor (23) which is connected with the driving gear (22) through a spline, wherein the hydraulic motor is the driving mechanism, and an oil inlet and an oil outlet of the hydraulic motor (23) are respectively communicated with the A2 oil port and the B2 oil port of the integrated control valve group (40) through hydraulic pipelines.
  3. 3. The intelligent docking block electrohydraulic control system with a mechanical locking function according to claim 2, characterized in that the distributed hydraulic oil source (30) comprises a hydraulic oil tank (31), a motor hydraulic pump group (32), a one-way valve (33), a proportional overflow valve (34), a two-way electromagnetic valve (35), a high-pressure filter (36), a manual pump (37) and a first overflow valve (38); The oil suction port of the motor hydraulic pump unit (32) is communicated with the hydraulic oil tank (31), the oil outlet of the motor hydraulic pump unit (32) is communicated with the oil inlet of the one-way valve (33), the oil outlet of the one-way valve (33) is respectively communicated with the P port of the two-way electromagnetic valve (35) and the oil inlet of the high-pressure filter (36), the A port of the two-way electromagnetic valve (35) is communicated with the P port of the proportional overflow valve (34), the T port of the proportional overflow valve (34) is communicated with the hydraulic oil tank (31), the oil outlet of the high-pressure filter (36) is communicated with the P port of the integrated control valve group (40), and the T port of the integrated control valve group (40) is communicated with the hydraulic oil tank (31); The oil outlet of the manual pump (37) and the P oil port of the first overflow valve (38) are communicated with the oil outlet of the one-way valve (33), and the oil suction port of the manual pump (37) and the T oil port of the first overflow valve (38) are communicated with the hydraulic oil tank (31).
  4. 4. An intelligent docking block electrohydraulic control system with a mechanical locking function according to claim 3, characterized by, that said integrated control valve group (40) comprises a pressure reducing valve (471), an electromagnetic directional valve (472) and a second one-way throttle valve (473); The oil port P and the oil port T of the pressure reducing valve (471) are respectively communicated with the oil port P and the oil port T of the integrated control valve bank (40), the oil port A of the pressure reducing valve (471) is communicated with the oil port P of the electromagnetic directional valve (472), the oil port T of the electromagnetic directional valve (472) is communicated with the oil port T of the integrated control valve bank (40), the oil port A and the oil port B of the electromagnetic directional valve (472) are respectively communicated with the oil port A1 and the oil port B1 of the second unidirectional throttle valve (473), and the oil port A2 and the oil port B2 of the second unidirectional throttle valve (473) are communicated with the oil port A2 and the oil port B2 of the integrated control valve bank (40).
  5. 5. The intelligent docking block electrohydraulic control system with a mechanical locking function according to claim 4, characterized in that said integrated control valve group (40) further comprises a proportional servo valve (43), a first normally closed electromagnetic ball valve (441), a second normally closed electromagnetic ball valve (442), a third normally closed electromagnetic ball valve (443), a first safety valve (451) and a second safety valve (452); The oil port P of the first normally closed electromagnetic ball valve (441) is communicated with the oil port P of the integrated control valve group (40), the oil port A of the first normally closed electromagnetic ball valve (441) is communicated with the oil port P of the proportional servo valve (43), the oil port T of the proportional servo valve (43) is communicated with the oil port T of the integrated control valve group (40), the oil port A and the oil port B of the proportional servo valve (43) are respectively communicated with the oil port P of the second normally closed electromagnetic ball valve (442) and the oil port P of the third normally closed electromagnetic ball valve (443), and the oil port A of the second normally closed electromagnetic ball valve (442) and the oil port A of the third normally closed electromagnetic ball valve (443) are respectively communicated with the oil port A1 and the oil port B1 of the integrated control valve group (40); the A oil port of the second normally closed electromagnetic ball valve (442) and the A oil port of the third normally closed electromagnetic ball valve (443) are respectively communicated with the P oil port of the first safety valve (451) and the P oil port of the second safety valve (452), and the T oil port of the first safety valve (451) and the T oil port of the second safety valve (452) are communicated with the T oil port of the integrated control valve group (40).
  6. 6. An intelligent docking block electrohydraulic control system with a mechanical locking function as recited in claim 5, characterized in that, The integrated control valve group (40) further comprises a manual reversing valve (461), a first one-way throttle valve (462), a first manual ball valve (463) and a second manual ball valve (464); the hydraulic fluid port P and the hydraulic fluid port T of manual switching-over valve (461) respectively with the hydraulic fluid port P and the hydraulic fluid port T of integrated control valves (40), the hydraulic fluid port A and the hydraulic fluid port B of manual switching-over valve (461) respectively with the hydraulic fluid port A1 and the hydraulic fluid port B1 of first one-way choke valve (462), the hydraulic fluid port A2 and the hydraulic fluid port B2 of first one-way choke valve (462) respectively with the oil inlet of first manual ball valve (463) and the oil inlet intercommunication of second manual ball valve (464), the oil outlet of first manual ball valve (463) and second manual ball valve (464) respectively with the hydraulic fluid port B1 and the hydraulic fluid port A1 of integrated control valves (40).
  7. 7. The intelligent docking block electrohydraulic control system with a mechanical locking function according to claim 5, characterized by further comprising a PLC control system (60) and a sensor group electrically connected with said PLC control system (60), said sensor group comprising: A first pressure sensor (511), a second pressure sensor (512), a third pressure sensor (513) and a fourth pressure sensor (514) which are respectively communicated with the A1 oil port, the B1 oil port, the A2 oil port and the B2 oil port of the integrated control valve group (40); A displacement sensor (52) provided outside the hydraulic cylinder (10) for measuring the displacement of the hydraulic cylinder (10); the first proximity switch (531), the second proximity switch (532) and the third proximity switch (533) are sequentially arranged at intervals from bottom to top and are positioned on one side of the external gear lock nut (21), and the locking position, the retraction position and the extension position of the external gear lock nut (21) are respectively indicated correspondingly.
  8. 8. The intelligent docking block electrohydraulic control system with mechanical locking function according to claim 7, characterized in that said PLC control system (60) comprises a CPU module (61), an AI module (62), a DI module (63), an AO module (64) and a DO module (65); The AI module (62) is electrically connected with the first pressure sensor (511), the second pressure sensor (512), the third pressure sensor (513), the fourth pressure sensor (514) and the displacement sensor (52) for receiving a pressure analog signal and a displacement analog signal; the DI module (63) is electrically connected with the first proximity switch (531), the second proximity switch (532) and the third proximity switch (533) for receiving a position status switch signal; The AO module (64) is electrically connected with the proportional relief valve (34) and the proportional servo valve (43) and is used for outputting a current signal to control the pressure and the opening of the proportional relief valve (34) and the proportional servo valve (43); The DO module (65) is electrically connected with the two-way electromagnetic valve (35), the first normally-closed electromagnetic ball valve (441), the second normally-closed electromagnetic ball valve (442), the third normally-closed electromagnetic ball valve (443) and the electromagnetic reversing valve (472) and is used for outputting a switching signal to control the on-off of the switching signal.
  9. 9. A control method of an intelligent docking block electrohydraulic control system with a mechanical locking function, which is characterized by being applied to the intelligent docking block electrohydraulic control system with a mechanical locking function as set forth in any one of claims 1 to 8, and comprising the following steps: s11, starting oil supply, controlling two-way electromagnetic valves (35) of a distributed hydraulic oil source (30) to be electrified and a motor hydraulic pump set (32) to be started, and adjusting the oil supply pressure to a preset value by adjusting the current of a proportional overflow valve (34); S12, unlocking the hydraulic cylinder (10), controlling an electromagnetic directional valve (472) of the integrated control valve group (40) to enable a hydraulic motor (23) to drive an external gear lock nut (21) through a driving gear (22) to enter unlocking operation, wherein the external gear lock nut (21) is firstly separated from a first proximity switch (531) and then gradually moves between a second proximity switch (532) and a third proximity switch (533), and the unlocking operation is completed; s13, enabling the proportional servo valve (43), and controlling the second normally-closed electromagnetic ball valve (442), the third normally-closed electromagnetic ball valve (443) and the first normally-closed electromagnetic ball valve (441) to be electrified, so that the action of the hydraulic cylinder (10) is completely controlled by the proportional servo valve (43); S14, closed-loop position control is carried out on the hydraulic cylinder (10), a PLC control system (60) calculates current position deviation according to target position curve information of the hydraulic cylinder (10) and real-time position feedback of a displacement sensor (52) issued by an upper control system through a field bus, then an opening command of a proportional servo valve (43) is calculated based on a position control algorithm, and then the opening degree of the proportional servo valve (43) is controlled according to the opening command, high-pressure oil generated by a distributed hydraulic oil source (30) passes through the proportional servo valve (43) to generate driving flow so as to drive the hydraulic cylinder (10), so that the hydraulic cylinder (10) tracks a target position curve issued by the upper control system.
  10. 10. The control method of the intelligent docking block electrohydraulic control system with the mechanical locking function as recited in claim 9, further comprising: the following control method of the external gear lock nut comprises the following steps: in the process that the hydraulic cylinder (10) keeps track of the target position curve issued by the upper control system and continuously moves, the external gear lock nut (21) follows the movement of the hydraulic cylinder (10) according to the following follow-up control strategy: S2a, in the lifting process of the hydraulic cylinder (10), once the external gear lock nut (21) touches the third proximity switch (533), controlling the electromagnetic directional valve (472) to enable the hydraulic motor (23) to drive the external gear lock nut (21) to carry out locking operation through the driving gear (22), and once the external gear lock nut (21) touches the second proximity switch (532), controlling the electromagnetic directional valve (472) to enable the hydraulic motor (23) to stop acting, and simultaneously setting an opening of the second unidirectional throttle valve (473) to enable the speed of the hydraulic motor (23) to drive the external gear lock nut (21) to carry out locking operation to be faster than the lifting speed of the hydraulic cylinder (10); S2b, in the retracting process of the hydraulic cylinder (10), once the external gear lock nut (21) touches the second proximity switch (532), controlling the electromagnetic directional valve (472) to enable the hydraulic motor (23) to drive the external gear lock nut (21) to unlock through the driving gear (22), and once the external gear lock nut (21) touches the third proximity switch (533), controlling the electromagnetic directional valve (472) to enable the hydraulic motor (23) to stop acting, and simultaneously setting an opening of the second unidirectional throttle valve (473) to enable the speed of the hydraulic motor (23) to drive the external gear lock nut (21) to unlock to be faster than the retracting speed of the hydraulic cylinder (10); And/or The shutdown control method comprises the following steps: S31, locking the hydraulic cylinder (10), controlling the electromagnetic directional valve (472) to enable the hydraulic motor (23) to drive the external gear lock nut (21) through the driving gear (22) to carry out locking operation until the external gear lock nut (21) touches the first proximity switch (531), and enabling the hydraulic cylinder (10) to be reliably locked at the current stop position; s32, controlling the second normally-closed electromagnetic ball valve (442), the third normally-closed electromagnetic ball valve (443) and the first normally-closed electromagnetic ball valve (441) to be powered off, and cutting off an enabling signal of the proportional servo valve (43); s33, gradually reducing the current of the proportional overflow valve (34) to zero, releasing the pressure of the distributed hydraulic oil source (30), controlling the motor hydraulic pump set (32) to stop, and controlling the two-way electromagnetic valve (35) to cut off.

Description

Intelligent docking block electrohydraulic control system with mechanical locking function and control method thereof Technical Field The application relates to the technical field of ship manufacturing and hydraulic control, in particular to an intelligent docking block electrohydraulic control system with a mechanical locking function and a control method thereof. Background The dock block is used as a dock infrastructure and mainly bears the gravity load transfer function of the ship in the sitting state, and the weight of the ship body is uniformly transferred to the dock foundation through the dock block. The traditional dock block consists of a steel frame and a wooden cushion block, so that the state is difficult to adjust, and the dock block is difficult to adapt to different ship-shaped curved surfaces. Aiming at different ship-shaped curved surfaces, the traditional dock block requires operators to form fixed piers, loose piers, wooden wedges and backing plates with different heights into required heights, and then the fixed piers, the loose piers, the wooden wedges and the backing plates are lifted and installed in a layered manner. The method is complex in adjusting process, large in workload, long in working time, time-consuming and labor-consuming, and difficult to accurately adapt to the complex curved surface supporting requirements of different ship types, and the efficiency and the accuracy of ship construction and maintenance are affected. In the prior art, the automation and the intellectualization level of ship manufacturing can be improved by adopting a hydraulic driving lifting docking block technology. For example, the invention patent with the application number 201310266179.0 discloses a movable hydraulic dock block and a use method thereof, the hydraulic dock block comprises a fixed support bracket, four hydraulic cylinders, an up-down movable bracket, a horizontal movable bracket, a special steel ball distance protector and a travelling mechanism assembly, the four hydraulic cylinders are used as four support points of the dock block and are arranged on four corners of the fixed support bracket, the up-down movable bracket is arranged on the upper part of the four hydraulic cylinders, the horizontal movable bracket is fixedly arranged on the up-down movable bracket, the special steel ball distance protector is arranged between the horizontal movable bracket and the up-down movable bracket, and the high-efficiency positioning of heavy load segmentation can be realized through the cooperative jacking of a plurality of groups of hydraulic cylinders. The existing scheme lacks high-precision position maintaining control and hydraulic locking protection mechanisms, the gesture maintaining stability cannot be ensured, and potential safety hazards exist. For another example, the invention patent with the application number 202111425860.6 discloses a novel universal docking block based on hydraulic automatic control, a middle pier separating structure is adopted, the side pier components comprise adjustable side pier components, movable hydraulic stations and a measuring and controlling system, the distance between each group of adjustable side pier components in the longitudinal direction of a ship is arranged according to the actual needs of different ship types, the transverse position of the side pier relative to the middle pier is adjusted according to different ship types, and a sleeve type locking lifting hydraulic cylinder and a sleeve type locking adjusting hydraulic cylinder are adopted to realize stepless adjustment of the height of the adjustable side pier components and the angle of a rotating plate of the adjustable side pier components. Although the prior art is improved in terms of posture suitability and operation convenience, the sleeve type locking structure is essentially a hydraulic lock, the locking function and the locking state of the hydraulic lock are maintained completely depending on the power maintenance of a hydraulic system, and when the system is stopped or out of pressure, the locking function is unreliable, the locking maintenance is not possible, the safety and the reliability are insufficient, and potential safety hazards exist. Disclosure of Invention The application aims to provide an intelligent dock block electrohydraulic control system with a mechanical locking function and a control method thereof, which are used for solving the technical problems that the prior art cannot provide a reliable locking function, and the locking function is unreliable, the safety is insufficient and potential safety hazards exist when the system is stopped or loses pressure. In a first aspect, the application provides an intelligent docking block electrohydraulic control system with a mechanical locking function, which comprises a hydraulic cylinder, an independent mechanical locking assembly, a distributed hydraulic oil source and an integrated control valve group; T